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ZC - 16DI8DO
PDOs MAPPING
CANopen I/O Module
16 Digital Input
8 Digital Output
Or
8 Counters (32 bit)
8 Digital input
8 Digital output
EN
OBJECTS FOR DEFAULT MAPPING
PDO NR
COB-ID
MAPPED
OBJECTS
RPDO 1
0x200
+
NodeId
User Manual
0x40000180
+
NodeId
TPDO 1
INDEX
SUBINDEX
Digital Input
[1..8]
0x6200
1
Digital Input
[1..8]
0x6000
1
Digital Input
[9..16]
0x6000
2
Overflow
counter
[1..8]
0x6000
3
Counter 1
value
0x2210
1
Counter 2
value
0x2210
2
Counter 3
value
0x2210
3
Counter 4
value
0x2210
4
Counter 5
value
0x2210
5
Counter 6
value
0x2210
6
Counter 7
value
0x2210
7
Counter 8
value
0x2210
8
Contents:
Features
PDOs
PDO Transmission Type
Emergency Message
Functional Diagrams
Object Dictionary
0x40000280
+
NodeId
TPDO 5
0x40000380
+
NodeId
TPDO 6
0x40000480
+
NodeId
TPDO 7
0x40000300
+
NodeId
TPDO 8
Note that TPDO COB-ID must starts with 0x4
EMERGENCY MESSAGE
FEATURES
TECHNICAL DATA
Baud rate
20, 50, 125, 250, 500, 800, 1000 Kbits/s
Counters Nr/Type
8 (32 bit) from input 1..8
Max frequency for Counters
Typical ON/OFF delay
10 kHz
The Emergency message is composed by:
2 bytes of EEC (Emergency Error Code)
1 byte of ER (Error register)
4 bytes of MEF (Manufacturer Error Filed Object 0x1002)
1 ms (with filter disabled) for inputs
1.25 ms for outputs
CANopen TECHNICAL DATA
NMT
ERROR CONTROL
NODE ID
NUMBER OF PDO
PDO MODES
PDO MAPPING
PDO LINKING
EMERGENCY MESSAGE
BYTE 1
BYTE 0
SLAVE
BYTE 2
NODE GUARDING
Event Triggered, Sync (cyclic), Sync (acyclic)
VARIABLE
SUPPORTED
ERROR MESSAGE
YES
SUPPORTED APPLICATION
LAYER
CiA 301 v4.02
SUPPORTED PROFILE
CiA 401 v2.01
BYTE 5
BYTE 6
MEF
CODE
5 TX, 1 RX
1 SERVER
BYTE 4
EEC (Emergency Error Code)
HW SWITCH OR SOFTWARE
NUMBER OF SDO
BYTE 3
ER
EEC
TPDO TRANSMISSIONS TYPE
SUPPORTED
OBJECT VALUE 0x180x sub 2
TRANSMISSION TYPE
0
Synchronous - acyclic
From 1 to 240
Synchronous - cyclic
255
Asynchronous
DESCRIPTION
0x0000
No Error
0x1000
Generic error
0x4201
CPU Temperature over T_HIGH_HIGH
0x4202
CPU Temperature over T_HIGH
0x4203
CPU Temperature under T_LOW
0x8110
Communication Can Overrun
0x8120
Error Passive
0x8130
Life Guard Error
0x8140
Recovered From Bus Off
0xFF20
CPU Error
0xFF30
Vext For outputs not found / SPI Communication Error
0xFF50
Output Fail
ER ( Error Register)
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT1
BIT 0
Generic
0
0
Temperature
Communication
0
0
Manifacture
Where if the bit is 0 means no error
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 1
OBJECT 0x2051 CPU COMMAND
MANUFACTURER SPECIFIC PROFILE
AREA
Object is used to send commands to the station module.
OBJECT 0x2001 NODE ADDRESS
CPU COMMAND (OBJECT 0x2051)
If Hardware switches are in “from memory” mode the node
address is selectable by object 0x2001.
COMMAND CODE
DESCRIPTION
0x5C0n
Force the preset value (object 0x2211) for counter n
0x5D0n
Force the reset for counter n
0x5E0n
Force the overflow reset (object 0x6000 sub 4)
for counter n
NODE ADDRESS (Object 0x2001)
OBJECT VALUE
DESCRIPTION
0..127
Node Address
OBJECT 0x2200 Filters Parameters
Object is used to customize the input filter.
OBJECT 0x2002 Baud Rate
CPU COMMAND (OBJECT 0x2051)
If Hardware switches are in “from memory” mode the baud
rate is selectable by object 0x2002.
DESCRIPTION
1
20 Kbit/s
2
50 Kbit/s
3
125 Kbit/s
4
250 Kbit/s
5
500 Kbit/s
6
800 Kbit/s
7
1 Mbit/s
OBJECT 0x2030 CPU TEMPERATURE
CPU TEMPERATURE (Object 0x2030)
Actual Temperature [°C/10]
2
Temperature for HOT STOP ERROR [°C/10]
95.0°C
3
Temperature for HOT ERROR [°C/10]
90.0°C
4
Temperature for COLD ERROR [°C/10]
-25.0°C
Counter threshold for high level (default 20)
3
Counter threshold for low level (default 20)
DIGITAL COUNTERS (OBJECT 0x2210)
The Object is Read Only.
1
2
Object 0x2210 Stores the values of the 8 counters in 32 bit
format.
The HOT ERROR and the COLD ERROR Temperature sends
the Emergency Object.
DESCRIPTION
Samples Number for filter (default 40)
OBJECT 0x2210 Digital Counters
Object can be used for monitoring the CPU temperature.
The HOT STOP Temperature sends in pre-operational the
station.
SUBINDEX
DESCRIPTION
1
For a high level sample the filter counter is incremented, otherwise
for a low level the filter counter is decremented.
When the filter counter is greater or equal subindex2 the input is
stated “high”.
When the filter counter is lower or equal subindex3 the input is
stated “low”.
In beetween subindex2 and subindex3 no state is asserted (dead
zone).
Note that the filter can be disabled by selecting:
Subindex 1 = 1
Subindex 2 = 0
Subindex 3 = 0
BAUD RATE (Object 0x2002)
OBJECT VALUE
SUBINDEX
SUBINDEX
DESCRIPTION
1
Counter 1 Value
2
Counter 2 Value
3
Counter 3 Value
4
Counter 4 Value
5
Counter 5 Value
6
Counter 6 Value
7
Counter 7 Value
8
Counter 8 Value
OBJECT 0x2210 Digital Counters
Object 0x2210 Stores the values of the 8 counters in 32 bit
format.
DIGITAL COUNTERS (OBJECT 0x2210)
SUBINDEX
DESCRIPTION
1
Preset Counter 1 Value
2
Preset Counter 2 Value
3
Preset Counter 3 Value
4
Preset Counter 4 Value
5
Preset Counter 5 Value
6
Preset Counter 6 Value
7
Preset Counter 7 Value
8
Preset Counter 8 Value
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 2
LED
RUN
LED DESCRIPTION
DIGITAL INPUT MANAGEMENT
SERVICE LED DESCRIPTION
OBJECT 0x6003
INPUT FILTER CONFIGURATION
STATE
DESCRIPTION
BLINKING
Pre-operational mode
SINGLE FLASH
Stop mode
ON
Operational mode
SINGLE FLASH
At least one error
counter has reached
or exceeded the
warning level
FILTER CONSTANT INPUT (Object 0x6003)
DOUBLE FLASH
Guard Event
TRIPLE FLASH
The SYNC hasn’t
received within the
configurated
communication cycle
time out period
ON
The Can controller is
BUS OFF
ERROR
OFF
No error
FAIL
ON/BLINKING
NOT FOUND Vext for
Outputs
/Data receiving
POWER
ON
Power Supply
SUBINDEX
DESCRIPTION
1
FILTER ENABLED FOR INPUT [1..8]
2
FILTER ENABLED FOR INPUT [9..16]
COUNTER MODE ON/OFF
If the value of object 0x6003 subindex 1
is “0” all inputs from 1 to 8 are configured in counter mode
(counter mode switched on).
If the value of object 0x6003 subindex 1 is not equal to “0”
The counter mode is switched off.
OBJECT 0x6005 INTERRUPT ENABLE
INPUT/OUTPUT LED DESCRIPTION
LED
1..8
9..16
STATE
DESCRIPTION
ON
Input [1..8] is high
OFF
Input [1..8] is low
ON
Input [9..16] is high
OFF
Input [9..16] is low
ON
Output [1..8] is high
OFF
Ouput [1..8] is low
If the value is “1” the station can generate asynchronous
TxPDO (DEFAULT).
If the value is “0” the station can’t generate asynchronous
TxPDO.
OBJECT 0x6007 INTERRUPT
MASK LOW TO HIGH
1O..8O
DIGITAL INTERRUPT MASK LOW TO HIGH (OBJECT 0x6007)
DIP SWITCH CONFIGURATION
SUBINDEX
DESCRIPTION
1
Interrupt mask on rising edsge input [1..8]
2
Interrupt mask on rising edsge input [9..16]
3
Interrupt mask for counters overflow
For subindex form 1 to 3 if value is “1” than the generation
of TxPDO on rising edge is enabled.
If subindex 4 value is “1” the generation of TxPDO on all 8
counters overflows is enabled.
OBJECT 0x6008 INTERRUPT
MASK HIGH TO LOW
DIGITAL INTERRUPT MASK LOW TO HIGH (OBJECT 0x6007)
SUBINDEX
DESCRIPTION
1
Interrupt mask on falling edsge input [1..8]
2
Interrupt mask on falling edsge input [9..16]
For subindex form 1 to 3 if value is “1” than the generation
of TxPDO on falling edge is enabled.
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 3
DIGITAL OUTPUT MANAGEMENT
OBJECT 0x6200
8 BIT OUTPUT
8 BIT OUTPUT (Object 0x6200)
SUBINDEX
DESCRIPTION
1
OUTPUT [1..8] VALUE
OBJECT 0x6206
ERROR MODE OUTPUT
ERROR MODE OUTPUT (Object 0x6206)
SUBINDEX
DESCRIPTION
1
OUTPUT [1..8] ERROR MODE
In case of communication error:
0 = the output keeps the last value
1 = the output is loaded with object 0x6207
OBJECT 0x6207
ERROR VALUE OUTPUT
ERROR VALUE OUTPUT (Object 0x6207)
SUBINDEX
DESCRIPTION
1
OUTPUT [1..8] ERROR VALUE
The object stores the outputs values to load in fault case
(only if the Error mode output corresponding bit
value is “1”).
OBJECT 0x6220
SINGLE BIT OUTPUT
ERROR VALUE OUTPUT (Object 0x6207)
SUBINDEX
DESCRIPTION
1
OUTPUT 1 VALUE
2
OUTPUT 2 VALUE
3
OUTPUT 3 VALUE
4
OUTPUT 4 VALUE
5
OUTPUT 5 VALUE
6
OUTPUT 6 VALUE
7
OUTPUT 7 VALUE
8
OUTPUT 8 VALUE
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 4
FUNCTIONAL DIAGRAM
COUNTER MODE OFF (DEFAULT)
MAPPING PARAMETER COMMUNICATION PARAMETER
INPUT FILTER
0x2200
DIGITAL
INPUT 9..16
Data selection
ENTRY INTO
0x6000
0x1A00
0x1800
MAP
INTO
TPDO1
TRANSMIT
TPDO1
Can
Transmission
INTERRUPT MASK
0x6007
DIGITAL
COUNTER 1..8
RISING
EDGE
OR
0x6005
INTERRUPT ENABLE
FALLING
EDGE
INTERRUPT MASK
0x6008
Counter
Overflow
ENTRY INTO
0x2210
Counter
MAP
INTO
TPDO 5..8
0x1A04..0x1A07
Can
Transmission
MAP
INTO
TPDO 5..8
0x1804..0x1807
MAPPING PARAMETER COMMUNICATION PARAMETER
FUNCTIONAL DIAGRAM
COUNTER MODE ON (Subindex 1 Object 0x6003 = “0”)
MAPPING PARAMETER COMMUNICATION PARAMETER
INPUT FILTER
0x2200
DIGITAL
INPUT 9..16
Data selection
ENTRY INTO
0x6000
0x1A00
0x1800
MAP
INTO
TPDO1
TRANSMIT
TPDO1
Can
Transmission
INTERRUPT MASK
0x6007
DIGITAL
COUNTER 1..8
RISING
EDGE
OR
FALLING
EDGE
0x6005
INTERRUPT ENABLE
INTERRUPT MASK
0x6008
Counter
Overflow
Counter
ENTRY INTO
0x2210
MAP
INTO
TPDO 5..8
0x1A04..0x1A07
MAP
INTO
TPDO 5..8
Can
Transmission
0x1804..0x1807
MAPPING PARAMETER COMMUNICATION PARAMETER
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 5
FUNCTIONAL DIAGRAM
DIGITAL OUTPUT
RX PDO1
COMMUNICATION
PARAMETERS
MAPPING
PARAMETERS
0x1400
0x1600
Receive PDO1
ENTRY INTO
0x6200
ERROR CHECK
OUTPUT
1..8
0x6206
0x6207
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 6
OBJECT DICTIONARY
COMMUNICATION PROFILE AREA
INDEX
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
0x1000
0
Device Type
Device Type
(Profile 401 = 0x191)
UNSIGNED 32
RO
0x00030191
0x1001
0
Error register
Error register (DS 401)
UNSIGNED 8
RO
0
0x1002
0
Manufacturer
Status Register
Status Register
UNSIGNED 32
RO
0
0x1005
0
SYNC COB-ID
The device consumes the SYNC
message
UNSIGNED 32
RW
0x80
0x1006
0
Communication
Window Length
Sync interval [us]
UNSIGNED 32
RW
0
0x1007
0
Synchronous
Window Length
Time window [us] for the PDO
transmission after the SYNC
UNSIGNED 32
RW
0
0x1008
0
Manufacturer
Device name
Device name
VISIBLE STRING
RO
"ZC-16DI8DO"
0x1009
0
Manufacturer
Hardware Version
Hardware version
VISIBLE STRING
RO
“SC000000”
0x100A
0
Manufacturer
Software Version
Software version
VISIBLE STRING
RO
"SW001190"
0x100C
0
Guard Time
Guard Time [ms]
UNSIGNED 16
RW
0
0x100D
0
Life Time Factor
Max delay between two guarding
telegrams =
Guard_Time*Life_Time_Factor
UNSIGNED 8
RW
0
0
Store Parameters
Max Subindex Number
RO
4
1
Save All
Parameters
Store not volatile parameters
(Write in ASCII “save” for store
process MSB 0x65766173 LSB)
UNSIGNED 32
RW
1
2
Save
Communication
Parameters
Store not volatile parameters
(Write in ASCII “save” for store
process MSB 0x65766173 LSB)
UNSIGNED 32
RW
1
3
Save Application
Parameters
Store not volatile parameters
(Write in ASCII “save” for store
process MSB 0x65766173 LSB)
UNSIGNED 32
RW
1
4
Save
Manufacturer
Parameters
Store not volatile parameters
(Write in ASCII “save” for store
process MSB 0x65766173 LSB)
UNSIGNED 32
RW
1
0
Restore Default
Max Subindex Number
UNSIGNED 8
RO
4
1
Restore All
Parameters
Restore not volatile parameters
(Write in ASCII “load” for load
process MSB 0x64616F6C LSB)
UNSIGNED 32
RW
0
2
Restore
Communication
Parameters
Restore not volatile parameters
(Write in ASCII “load” for load
process MSB 0x64616F6C LSB)
UNSIGNED 32
RW
0
3
Restore
Application
Parameters
Restore not volatile parameters
(Write in ASCII “load” for load
process MSB 0x64616F6C
LSB))
UNSIGNED 32
RW
0
0x1010
0x1011
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 7
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
4
Restore
Manufactures
Parameters
Restore not volatile parameters
(Write in ASCII “load” for load
process MSB 0x64616F6C LSB)
UNSIGNED 32
RW
0
0x1014
0
COB-ID
Emergency
Object
COB-ID for Emergency Object
UNSIGNED 32
0x1018
0
1
2
3
4
Max Subindex Number
Seneca srl
ZC-16DI8DO Machine ID Code
Revision
Serial Number Code
UNSIGNED 8
UNSIGNED 32
UNSIGNED 32
UNSIGNED 32
UNSIGNED 32
UNSIGNED 8
RO
RO
RO
RO
RO
4
0x00000249
0x00000022
0
0
RO
2
INDEX
0
0x1200
Identity Object
Vendor ID
Product Code
Revision Number
Serial Number
Server SDO
Parameters
Max Subindex Number
RO
NODEID+0x80
1
Receive SDO
COB-ID
COB-ID of Receive SDO
UNSIGNED 32
RO
NODEID +
0x600
2
Transmit SDO
COB-ID
COB-ID of Transmit SDO
UNSIGNED 32
RO
NODEID +
0x580
0
Receive PDO1
Communication
Parameters
Max Subindex Number
UNSIGNED 8
RO
3
1
COB-ID
COB-ID of TxPDO1
UNSIGNED 32
RW
NODEID +
0x200
Transmission
Type
Transmission Type for RxPDO1
0x00 = Synchronous - acyclic
0x01 to 0xF0 = Synchronouscyclic
0xFF = Asynchronous
UNSIGNED 8
RW
0xFF
3
Inhibit Time
Not used in Rx PDO
UNSIGNED 16
RW
0x0000
0
Receive PDO1
Communication
Parameters
Max Subindex Number
UNSIGNED 8
RO
1
1
Object NR1
First Object
(default:Output 1..8)
UNSIGNED 32
RW
0x62000108
Object = 0x6200
subindex = 1
Length = 8 bit
0
Transmit PDO1
Communication
Parameters
Max Subindex Number
UNSIGNED 8
RO
3
1
COB-ID
COB-ID of TxPDO1
UNSIGNED 32
RW
NODEID +
0x40000180
2
Transmission
Type
Transmission Type for TxPDO1
0x00 = Synchronous - acyclic
0x01 to 0xF0 = Synchronouscyclic
0xFF = Asynchronous
UNSIGNED 8
RW
0xFF
3
Inhibit Time
Min. delay for the next PDO
(ms/10)
UNSIGNED 16
RW
0x0000
0
Transmit PDO5
Communication
Parameters
Max Subindex Number
UNSIGNED 8
RO
3
1
COB-ID
COB-ID of TxPDO5
UNSIGNED 32
RW
NODEID +
0x40000280
2
Transmission
Type
Transmission Type for TxPDO1
0x00 = Synchronous - acyclic
0x01 to 0xF0 = Synchronouscyclic
0xFF = Asynchronous
UNSIGNED 8
RW
0x01
3
Inhibit Time
Min. delay for the next PDO
(ms/10)
UNSIGNED 16
RW
0x0000
0x1400
2
0x1600
0x1800
0x1804
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
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ENGLISH - 8
INDEX
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
0
Transmit PDO6
Communication
Parameters
Max Subindex Number
UNSIGNED 8
RO
3
1
COB-ID
COB-ID of TxPDO6
UNSIGNED 32
RW
NODEID +
0x40000380
2
Transmission
Type
Transmission Type for TxPDO1
0x00 = Synchronous - acyclic
0x01 to 0xF0 = Synchronouscyclic
0xFF = Asynchronous
UNSIGNED 8
RW
0x01
3
Inhibit Time
Min. delay for the next PDO
(ms/10)
UNSIGNED 16
RW
0x0000
0
Transmit PDO7
Communication
Parameters
Max Subindex Number
UNSIGNED 8
RO
3
1
COB-ID
COB-ID of TxPDO7
UNSIGNED 32
RW
NODEID +
0x40000480
2
Transmission
Type
Transmission Type for TxPDO1
0x00 = Synchronous - acyclic
0x01 to 0xF0 = Synchronouscyclic
0xFF = Asynchronous
UNSIGNED 8
RW
0x01
3
Inhibit Time
Min. delay for transmit the next
TxPDO (ms/10)
UNSIGNED 16
RW
0x0000
0
Transmit PDO8
Communication
Parameters
Max Subindex Number
UNSIGNED 8
RO
3
1
COB-ID
COB-ID of TxPDO8
UNSIGNED 32
RW
NODEID +
0x40000300
2
Transmission
Type
Transmission Type for TxPDO1
0x00 = Synchronous - acyclic
0x01 to 0xF0 = Synchronouscyclic
0xFF = Asynchronous
UNSIGNED 8
RW
0x01
3
Inhibit Time
Min. delay for the next PDO
(ms/10)
UNSIGNED 16
RW
0x0000
0
Transmit PDO1
Mapping
Max Subindex Number
UNSIGNED 8
RO
3
1
Object NR1
First Object
(default: Input 1..8)
UNSIGNED 32
RW
0x60000108
Object = 0x6000
subindex = 1
Length = 8 bit
Object NR2
Second Object
(default: Input 9..16)
RW
0x60000208
Object = 0x6000
subindex = 2
Length = 8 bit
3
Object NR3
Fourth Object
(default: Counter 1..8 Overflow)
UNSIGNED 32
RW
0x60000308
Object = 0x6000
subindex = 3
Length = 8 bit
0
Transmit PDO5
Mapping
Max Subindex Number
UNSIGNED 8
RO
2
1
Object NR1
First Object
(default: Counter 1)
UNSIGNED 32
RW
0x22100120
Object = 0x2210
subindex = 1
Length = 32 bit
Object NR2
Second Object
(default: Counter 2)
RW
0x22100220
Object = 0x2210
subindex = 2
Length = 32 bit
0x1805
0x1806
0x1807
0x1A00
2
0x1A04
2
UNSIGNED 32
UNSIGNED 32
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
MI001691-E
ENGLISH - 9
INDEX
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
0
Transmit PDO6
Mapping
Max Subindex Number
UNSIGNED 8
RO
2
Object NR1
First Object
(default: Counter 3)
RW
0x22100320
Object = 0x2210
subindex = 3
Length = 32 bit
2
Object NR2
Second Object
(default: Counter 4)
UNSIGNED 32
RW
0x22100420
Object = 0x2210
subindex = 4
Length = 32 bit
0
Transmit PDO7
Mapping
Max Subindex Number
UNSIGNED 8
RO
2
RW
0x22100520
Object = 0x2210
subindex = 5
Length = 32 bit
1
UNSIGNED 32
0x1A05
1
Object NR1
First Object
(default: Counter 5)
UNSIGNED 32
0x1A06
2
Object NR2
Second Object
(default: Counter 6)
0
Transmit PDO8
Mapping
Max Subindex Number
Object NR1
First Object
(default: Counter 7)
Object NR2
Second Object
(default: Counter 8)
1
UNSIGNED 32
RW
0x22100620
Object = 0x2210
subindex = 6
Length = 32 bit
UNSIGNED 8
RO
2
RW
0x22100720
Object = 0x2210
subindex = 7
Length = 32 bit
RW
0x22100820
Object = 0x2210
subindex = 8
Length = 32 bit
UNSIGNED 32
0x1A07
2
UNSIGNED 32
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
MI001691-E
ENGLISH - 10
MANUFACTURER SPECIFIC PROFILE AREA
INDEX
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
0x2001
0
Module Address
Station Address
(only if dip switch 4,5,6,7,8,9,10
are OFF)
UNSIGNED 8
RW
127
0
Buad Rate
Station Baud Rate
(only if dip switch 1,2,3 are OFF)
1 = 20Kbps
2 = 50Kbps
3 = 125Kbps
4 = 250Kbps
5 = 500Kbps
6 = 800Kbps
7 = 1Mbps
UNSIGNED 8
RW
7
0
Device
Temperature
Max Subindex Number
UNSIGNED 8
RO
4
1
Internal
Temperatue
Station internal Temperature
[°C/10]
INTEGER 16
RO
0
2
Hi Hi
Temperature
Critical Hot Temperature
(All operations Stop )[°C/10]
INTEGER 16
RO
950
3
Hi Temperature
Warning for Too Hot
Temperature
[°C/10]
INTEGER 16
RO
900
4
Lo Temperature
Critical Low Temperature
(All operations Stop )[°C/10]
INTEGER 16
RO
-250
UNSIGNED 16
RW
0
0x2002
0x2030
Command to execute
Supported commands are:
0x5Cnn Force preset for counter
mask nn
0x5Dnn Force reset for counter
mask nn
0x5Enn Force overflow for counter
mask nn
0x2051
0
CPU Command
0x2052
0
Aux Command
Reserved
UNSIGNED 16
RW
0
0
Input Filter
Parameter
Max Subindex Number
UNSIGNED 8
RO
3
1
Filter Length
Number of samples to evaluate
UNSIGNED 8
RW
40
2
Counter threshold
for high level
If counter >= threshold_high
input is stated “high”
UNSIGNED 8
RW
20
3
Counter threshold If counter <= threshold_low input
for high level
is stated “low”
UNSIGNED 8
RW
20
0x2200
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
MI001691-E
ENGLISH - 11
INDEX
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
0
Input Counters
Max Subindex Number
UNSIGNED 8
RO
8
1
Counter 1 Value
Counter 1 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
2
Counter 2 Value
Counter 2 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
3
Counter 3 Value
Counter 3 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
4
Counter 4 Value
Counter 4 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
5
Counter 5 Value
Counter 5 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
6
Counter 6 Value
Counter 6 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
7
Counter 7 Value
Counter 7 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
8
Counter 8 Value
Counter 8 value
(Only if Filter for inputs 1..8 is
disabled)
UNSIGNED 32
RO
0
0
Preset for Input
Counters
Max Subindex Number
UNSIGNED 8
RO
8
1
Counter 1 Preset
Value
Counter 1 preset value
UNSIGNED 32
RW
0
2
Counter 2 Preset
Value
Counter 2 preset value
UNSIGNED 32
RW
0
3
Counter 3 Preset
Value
Counter 3 preset value
UNSIGNED 32
RW
0
4
Counter 4 Preset
Value
Counter 4 preset value
UNSIGNED 32
RW
0
5
Counter 5 Preset
Value
Counter 5 preset value
UNSIGNED 32
RW
0
6
Counter 6 Preset
Value
Counter 6 preset value
UNSIGNED 32
RW
0
7
Counter 7 Preset
Value
Counter 7 preset value
UNSIGNED 32
RW
0
8
Counter 8 Preset
Value
Counter 8 preset value
UNSIGNED 32
RW
0
0
Output 1..8 Status
Max Subindex Number
UNSIGNED 8
RO
1
1
Output Status
1 = Output status ERROR
0 = Output status OK
UNSIGNED 8
RO
0
0
Output 1..8 Fail
type
Max Subindex Number
UNSIGNED 8
RO
1
1
Fail Type
Reserved
UNSIGNED 8
RW
0
0x2210
0x2211
0x2520
0x2521
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
MI001691-E
ENGLISH - 12
STANDARD DEVICE PROFILE AREA
INDEX
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
0
8 bit Digital Input /
Counter 1
overflow
Max Subindex Number
UNSIGNED 8
RO
3
1
Input [1..8] Value
Read input [1..8] value
UNSIGNED 8
RO
0
2
Input [9..16]
Value
Read input [9..16] value
UNSIGNED 8
RO
0
3
Counter [1..8]
Overflow
Overflow Status Counter [1..8]
UNSIGNED 8
RO
0
0
Filter Mask
enable
Max Subindex Number
UNSIGNED 8
RO
2
1
Input [1..8] Filter
Mask Enable
Input [1..8] Filter enable
Mask bit 0 = Filter disabled
Mask bit 1 = Filter enabled
UNSIGNED 8
RW
0xFF
2
Input [9..16] Filter
Mask Enable
Input [9..16] Filter enable
Mask bit 0 = Filter disabled
Mask bit 1 = Filter enabled
UNSIGNED 8
RW
0xFF
0
Global Interrupt
Enabled
0 = TxPDO Asynchronous
disabled
1 = TxPDO Asynchronous
enabled
UNSIGNED 8
RW
1
0
Interrupt Mask
Low to High
Max Subindex Number
UNSIGNED 8
RO
3
Input [1..8]
interrupt Low to
High mask enable
Input [1..8] rising interrupt mask
enable
Mask bit 0 = rising interrupt
disabled
Mask bit 1 = rising interrupt
enabled
UNSIGNED 8
RW
0xFF
Input [9..16]
interrupt Low to
High mask enable
Input [9..16] rising interrupt
enable
Mask bit 0 = rising interrupt
disabled
Mask bit 1 = rising interrupt
enabled
UNSIGNED 8
RW
0xFF
3
Counter [1..8]
Overflow interrupt
mask enable
Counter [1..8] uprising interrupt
mask enable
Mask bit 0 = rising interrupt
disabled
Mask bit 1 = rising interrupt
enabled
UNSIGNED 8
RW
0xFF
0
Interrupt Mask
High to Low
Max Subindex Number
UNSIGNED 8
RO
2
Input [1..8]
interrupt High to
Low mask enable
Input [1..8] falling interrupt mask
enable
Mask bit 0 = falling interrupt
disabled
Mask bit 1 = falling interrupt
enabled
UNSIGNED 8
RW
0xFF
Input [9..16]
interrupt High to
Low mask enable
Input [9..16] falling interrupt
enable
Mask bit 0 = falling interrupt
disabled
Mask bit 1 = falling interrupt
enabled
UNSIGNED 8
RW
0xFF
0x6000
0x6003
0x6005
1
0x6007
2
1
0x6008
2
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
MI001691-E
ENGLISH - 13
INDEX
0x6020
0x6200
SUB
INDEX
NAME
DESCRIPTION
TYPE
ACCESS
DEFAULT
0
Read Input 1 Bit
Max Subindex Number
UNSIGNED 8
RO
16
1
Input 1 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
2
Input 2 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
3
Input 3 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
4
Input 4 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
5
Input 5 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
6
Input 6 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
7
Input 7 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
8
Input 8 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
9
Input 9 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
10
Input 10 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
11
Input 11 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
12
Input 12 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
13
Input 13 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
14
Input 14 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
15
Input 15 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
16
Input 16 Value
0 = Input is “Low”
1 = Input is “High”
BOOLEAN
RO
0
0
8 bit Output
Max Subindex Number
UNSIGNED 8
RO
1
1
Output 1..8 Value
Output value
UNSIGNED 8
RW
0
0
Error Mode
Output
Max Subindex Number
UNSIGNED 8
RO
1
1
Error Mode
Output [1..8]
“1” = Load object 0x6207 value
“0” = Keep last
UNSIGNED 8
RW
0xFF
0
Error Value
Output
Max Subindex Number
UNSIGNED 8
RO
1
1
Error value
Output [1..8]
Value to Load in fail case
UNSIGNED 8
RW
0x00
0
Single Bit Output
Max Subindex Number
UNSIGNED 8
RO
8
1
Output 1 Value
Output 1
BOOLEAN
RW
0
2
Output 2 Value
Output 2
BOOLEAN
RW
0
3
Output 3 Value
Output 3
BOOLEAN
RW
0
4
Output 4 Value
Output 4
BOOLEAN
RW
0
5
Output 5 Value
Output 5
BOOLEAN
RW
0
6
Output 6 Value
Output 6
BOOLEAN
RW
0
7
Output 7 Value
Output 7
BOOLEAN
RW
0
8
Output 8 Value
Output 8
BOOLEAN
RW
0
0x6206
0x6207
0x6220
SENECA s.r.l.
Via Germania, 34 - 35127 - Z.I. CAMIN - PADOVA - ITALY Tel. +39.049.8705359 - Fax +39.049.8706287 e-mail: [email protected] - www.seneca.it
This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the
document may be modified without prior notice Content of this documentation is subject to periodical revision.
MI001691-E
ENGLISH - 14